Changeset 19 for trunk/extremum_seeking/esc_ros/include/esc_ros/esc_ros.h

Timestamp:

01/03/13 15:32:03 (11 years ago)

Author:

wcaarls

Message:

Updated extremum_seeking to revision 1177

File:

• trunk/extremum_seeking/esc_ros/include/esc_ros/esc_ros.h (modified) (3 diffs)

trunk/extremum_seeking/esc_ros/include/esc_ros/esc_ros.h

@@ -16 +16 @@
 #include <std_msgs/Float32.h>
 #include <std_msgs/Float32MultiArray.h>
+#include <std_msgs/Bool.h>
+#include <std_msgs/Empty.h>
 #include <esc_common/esc.h>
 #include <string>
@@ -24 +26 @@
 protected:
         ESC* esc_;
-        ros::Publisher pub_ref_, pub_monitor_;
-        ros::Subscriber sub_obj_val_;
+        ros::Publisher pub_ref_, pub_monitor_, pub_stopped_;
+        ros::Subscriber sub_obj_val_, sub_enable_;
         ros::NodeHandle* n_;
         double obj_val_;
         std::vector<double> state_vec_;
-        bool initialized_, monitor_, first_obj_val_received_;
+        bool initialized_, monitor_, first_obj_val_received_,enabled_, reference_zeroed_;
         double period_;
+        unsigned int opt_dim_;
 
 public:
@@ -37 +40 @@
         virtual void step();
         virtual void spin();
+        virtual void reset();
+        virtual void enableCallback(std_msgs::Bool msg);
         virtual ~ESCROS(){};
 protected: